A cantilevered automated guided vehicle

Abstract

The embodiment of the present application provides a kind of cantilever automatic guiding transport vehicle, cantilever automatic guiding transport vehicle includes: mobile chassis, vehicle body and multiple sets of cantilever shaft assemblies, vehicle body is connected with mobile chassis, mobile chassis can drive vehicle body to move;Multiple sets of cantilever shaft assemblies, multiple sets of cantilever shaft assemblies are connected with vehicle body, multiple sets of cantilever shaft assemblies include at least two sets of main cantilever shaft assemblies for carrying full material roll and at least two sets of auxiliary cantilever shaft assemblies for carrying empty material roll, wherein, auxiliary cantilever shaft assembly includes auxiliary cantilever shaft and telescopic assembly;Auxiliary cantilever shaft can be reciprocated under the action of telescopic assembly, relative vehicle body along the axis direction of auxiliary cantilever shaft, to adjust the length of the auxiliary cantilever shaft assembly when executing material roll taking and placing operation.

Description

Technical Field

[0001] This application relates to the field of warehousing system technology, and in particular to a cantilevered automated guided vehicle. Background Technology

[0002] Automated Guided Vehicles (AGVs) are capable of traveling along a prescribed navigation path and have the function of transporting materials.

[0003] Currently, in the lithium battery industry, cantilevered automated guided vehicles (AGVs) are commonly used to transport coils of material between the pick-up and unload points. The pick-up point is typically a buffer rack, used to store coils, primarily in industrial production, especially on automated production lines, for temporary storage and buffering of coils to ensure continuous production line operation. The unload point is typically a machine, a mechanical device used to process and handle coiled materials, mainly used in automated production processes to automate the production of metal coils. Traditional cantilevered AGVs usually employ a single cantilever structure, completing only the transport of a full coil or the retrieval of an empty coil on one side at a time, requiring repeated back-and-forth movement between the machine and the buffer rack. In a typical workflow, the single-cantilevered AGV first removes an empty coil from the machine and transports it to the buffer rack; then, it retrieves a full coil from the buffer rack and transports it back to the machine. In the above operation process, the single cantilever automated guided vehicle needs to go back and forth to pick up and deliver materials. During the process of picking up and placing the material rolls, the machine cannot operate, resulting in a long downtime and waiting time. The operation process is inefficient and cannot meet the material roll handling needs under high-efficiency production rhythm. Utility Model Content

[0004] The purpose of this application is to provide a cantilevered automated guided vehicle (AGV) to improve the efficiency of loading and unloading material coils. The specific technical solution is as follows:

[0005] This application provides a cantilever automated guided vehicle (AGV), which includes a mobile chassis, a vehicle body, and multiple cantilever axle assemblies. The vehicle body is connected to the mobile chassis, and the mobile chassis can drive the vehicle body to move. The multiple cantilever axle assemblies are connected to the vehicle body, and include at least two main cantilever axle assemblies for carrying full coils and at least two auxiliary cantilever axle assemblies for carrying empty coils. Each auxiliary cantilever axle assembly includes an auxiliary cantilever axle and a telescopic component. The auxiliary cantilever axle can reciprocate along the axial direction of the auxiliary cantilever axle relative to the vehicle body under the action of the telescopic component, so as to adjust the length of the auxiliary cantilever axle assembly when performing coil loading and unloading operations.

[0006] In some embodiments, the telescopic assembly includes a fixing member, a multi-stage telescopic member, and a telescopic drive mechanism. The fixing member is slidably connected to the vehicle body in a vertical direction, the multi-stage telescopic member is connected to the secondary cantilever shaft, the multi-stage telescopic member is slidably connected to the fixing member, and the telescopic drive mechanism is drivenly connected to the multi-stage telescopic member.

[0007] In some embodiments, the multi-stage telescopic member includes a primary telescopic member and a secondary telescopic member; the telescopic drive mechanism includes: a translation drive device, a first transmission rack, a second transmission rack, and a transmission gear; the first transmission rack is fixedly connected to the fixed member, and the second transmission rack is fixedly connected to the secondary telescopic member; the transmission gear meshes with the first transmission rack and the second transmission rack respectively, and the transmission gear is disposed on the primary telescopic member; the translation drive device includes a translation output member, the translation output member is fixedly connected to the primary telescopic member, and the translation output member can drive the primary telescopic member to reciprocate and extend, and through the meshing motion of the transmission gear with the first transmission rack and the second transmission rack, drive the secondary telescopic member to move relative to the primary telescopic member in the direction of extension and retraction of the primary telescopic member.

[0008] In some embodiments, the translation drive device includes: a telescopic drive motor, a telescopic drive screw, and a telescopic drive nut; the telescopic drive motor is mounted on the fixing member, one end of the telescopic drive screw is connected to the output shaft of the telescopic drive motor, the telescopic drive nut is sleeved on the telescopic drive screw, and the translation output member is connected to the telescopic drive nut.

[0009] In some embodiments, the main cantilever shaft assembly and / or the secondary cantilever shaft assembly further includes a tensioning mechanism; the tensioning mechanism includes: a tensioning mounting base, a tensioning drive assembly, and a tensioning moving member; the main cantilever shaft of the main cantilever shaft assembly and / or the secondary cantilever shaft of the secondary cantilever shaft assembly have a hollow inner cavity, the tensioning mounting base is fixedly installed in the inner cavity, and the tensioning moving member is slidably connected to the tensioning mounting base in a direction perpendicular to the axis of the main cantilever shaft and / or the secondary cantilever shaft; the tensioning drive assembly is used to drive the tensioning moving member to extend out of the main cantilever shaft and / or the secondary cantilever shaft.

[0010] In some embodiments, the main cantilever shaft assembly and / or the secondary cantilever shaft assembly further includes a stop mechanism; the stop mechanism is located at the end of the main cantilever shaft of the main cantilever shaft assembly and / or the secondary cantilever shaft of the secondary cantilever shaft assembly away from the vehicle body; the stop mechanism includes: a stop base, a stop rod, and a stop rod drive device; the stop base is fixedly installed on the main cantilever shaft and / or the secondary cantilever shaft; the stop rod is slidably connected to the stop base; the stop rod drive device is connected to the stop rod and is used to drive the stop rod to extend or retract from the stop base.

[0011] In some embodiments, the number of cantilever axle assemblies is four; the main cantilever axle of one set of main cantilever axle assembly and the secondary cantilever axle of one set of secondary cantilever axle assembly extend from a first side of the vehicle body; the main cantilever axle of another set of main cantilever axle assembly and the secondary cantilever axle of another set of secondary cantilever axle assembly extend from a second side of the vehicle body, the first side and the second side being opposite each other in the horizontal direction;

[0012] or

[0013] The main cantilever shafts of the two main cantilever shaft assemblies extend from the first side of the vehicle body; the secondary cantilever shafts of the two secondary cantilever shaft assemblies extend from the second side of the vehicle body, with the first side and the second side facing each other in the horizontal direction.

[0014] In some embodiments, the vehicle body includes a first vertical support structure and a second vertical support structure, the first vertical support structure and the second vertical support structure extending vertically and facing each other horizontally; a first portion of one of the secondary cantilever axle assemblies connected to the first vertical support structure is located on the side of the first vertical support structure away from the second vertical support structure; a second portion of another secondary cantilever axle assembly connected to the second vertical support structure is located on the side of the second vertical support structure away from the first vertical support structure; a third portion of one main cantilever axle assembly connected to the vehicle body and a fourth portion of another main cantilever axle assembly connected to the vehicle body are located between the first vertical support structure and the second vertical support structure.

[0015] In some embodiments, the first part is slidably connected to the first vertical support structure via a first lifting mechanism; the second part is slidably connected to the second vertical support structure via a second lifting mechanism.

[0016] In some embodiments, the third part and the fourth part are both slidably connected to the side of the second vertical support structure near the first vertical support structure via a third lifting mechanism; or, the third part is slidably connected to the side of the second vertical support structure near the first vertical support structure via a fourth lifting mechanism, and the fourth part is slidably connected to the side of the first vertical support structure near the second vertical support structure via a fifth lifting mechanism.

[0017] The cantilever automated guided vehicle (AGV) provided in this application embodiment enables the synchronous carrying and transfer of multiple rolls by setting at least two main cantilever shaft assemblies for carrying full rolls and at least two auxiliary cantilever shaft assemblies for carrying empty rolls. In a typical roll loading and unloading operation, two of the main cantilever shaft assemblies of the AVT first pick up full rolls from the loading point and move them to the unloading point. Then, the telescopic components of the other two auxiliary cantilever shaft assemblies control the axial extension of the unloaded auxiliary cantilever shafts to pick up two empty rolls at the unloading point (e.g., empty rolls on two machines). The two full rolls on the main cantilever shaft assemblies are then placed on the two machines respectively. This allows for the loading and unloading of rolls on two machines in a single operation, further improving the efficiency of roll loading and unloading. The at least two auxiliary cantilever shafts can reciprocate along the axial direction of the auxiliary cantilever shafts, providing high freedom and good flexibility during the loading and unloading process. Specifically, at least two secondary cantilever shafts are designed to extend and retract along their axial direction. This allows the cantilevered automated guided vehicle (AGV) to perform the following actions when it stops at a machine station: First, using the extendable secondary cantilever shafts, it removes empty coils from the machine. When the extendable secondary cantilever shaft assembly aligns with the docking shaft of the coil on the machine, the assembly can adjust its length to actively compensate for deviations, minimizing the number of repeated adjustments to the vehicle body by moving the chassis, thus improving work efficiency. Next, it uses two main cantilever shaft assemblies carrying full coils to install the full coils onto the machine. The entire process is completed in the same vehicle position, eliminating the need for the AGV to move back and forth for coil replacements in existing technologies, thereby improving work efficiency.

[0018] Of course, any product implementing this application does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0020] Figure 1 Axle-view of the cantilevered automated guided vehicle provided in the embodiments of this application Figure 1 ;

[0021] Figure 2 Axle-view of the cantilevered automated guided vehicle provided in the embodiments of this application Figure 2 ;

[0022] Figure 3 for Figure 1 The axle of the cantilevered automated guided vehicle shown is after removing the body shell, bidirectional fine-tuning mechanism, and mobile chassis. Figure 1 ;

[0023] Figure 4 for Figure 1 The axle of the cantilevered automated guided vehicle shown is after removing the body shell, bidirectional fine-tuning mechanism, and mobile chassis. Figure 2 ;

[0024] Figure 5 An isometric view of the telescopic component in the cantilevered automated guided vehicle provided in this application embodiment.

[0025] Figure label:

[0026] Mobile chassis 100;

[0027] Vehicle body 200; First side of vehicle body 201; Second side of vehicle body 202; First vertical support structure 210; First door pillar 211; Second vertical support structure 220; Second door pillar 221; Bellows cover 230;

[0028] Cantilever shaft assembly 300; main cantilever shaft assembly 310; main cantilever shaft 311; auxiliary cantilever shaft assembly 320; auxiliary cantilever shaft 321; telescopic assembly 322; fixing component 3221; telescopic component 3222; first-stage telescopic component 32221; side beam 322211; second-stage telescopic component 32222; telescopic drive mechanism 3223; translation output component 32230; first transmission rack 32231; second transmission rack 32232; transmission gear 32233; telescopic drive motor 32234; telescopic drive screw 32235; first-stage slide rail 32371; first-stage slider 32372; adapter 330; pushing mechanism 340; pushing component 341; pushing slide rail 3421; tensioning moving component 351; blocking mechanism 360; blocking base 361; blocking rod 362; cantilever shaft mounting base 370;

[0029] First lifting mechanism 410; First lifting motor 411; Lifting drive wheel 412; Lifting driven wheel 413; Lifting synchronous belt 414; First lifting slide rail 415; First lifting slider 416; Transmission wheel 417; Transmission belt 418; Second lifting mechanism 420; Third lifting mechanism 430; Third lifting motor 431; Lifting drive screw 432; Second lifting slide rail 433; Second lifting slider 434; Translation mechanism 500; Lateral movement mechanism 600;

[0030] First direction X; second direction Y; vertical direction Z. Detailed Implementation

[0031] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0032] This application provides a cantilevered automated guided vehicle, such as... Figures 1 to 4 As shown, Figure 1 Axle-view of the cantilevered automated guided vehicle provided in the embodiments of this application Figure 1 ; Figure 2 Axle-view of the cantilevered automated guided vehicle provided in the embodiments of this application Figure 2 ; Figure 3 for Figure 1 The axle of the cantilevered automated guided vehicle shown is after removing the body shell, bidirectional fine-tuning mechanism, and mobile chassis. Figure 1 ; Figure 4 for Figure 1 The axle of the cantilevered automated guided vehicle shown is after removing the body shell, bidirectional fine-tuning mechanism, and mobile chassis. Figure 2 The cantilever automated guided vehicle includes a mobile chassis 100, a vehicle body 200, and multiple cantilever axle assemblies 300. The vehicle body 200 is connected to the mobile chassis 100, and the mobile chassis 100 can move the vehicle body 200. The multiple cantilever axle assemblies 300 are connected to the vehicle body 200. The multiple cantilever axle assemblies 300 include at least two main cantilever axle assemblies 310 for carrying full rolls and at least two auxiliary cantilever axle assemblies 320 for carrying empty rolls. The auxiliary cantilever axle assembly 320 includes an auxiliary cantilever axle 321 and a telescopic assembly 322. The auxiliary cantilever axle 321 can reciprocate and extend relative to the vehicle body 200 along the axial direction of the auxiliary cantilever axle 321 under the action of the telescopic assembly 322, so as to adjust the length of the auxiliary cantilever axle assembly 320 when performing roll loading and unloading operations.

[0033] The cantilever automated guided vehicle (AGV) provided in this application embodiment enables the synchronous carrying and transfer of multiple rolls by setting at least two main cantilever shaft assemblies 310 for carrying full rolls and at least two auxiliary cantilever shaft assemblies 320 for carrying empty rolls. In a typical roll picking and placing operation, two of the main cantilever shaft assemblies 310 of the AVT first pick up full rolls from the picking point and move them to the placing point. Then, the telescopic components 322 of the other two auxiliary cantilever shaft assemblies 320 control the axial extension of the empty auxiliary cantilever shafts 321 to pick up two empty rolls at the placing point (e.g., picking up empty rolls on two machines). The two full rolls on the main cantilever shaft assemblies 310 are then placed on the two machines respectively. The at least two auxiliary cantilever shafts 321 can reciprocate along the axial direction of the auxiliary cantilever shafts 321, providing high freedom and good flexibility during the picking and placing process. Specifically, at least two secondary cantilever shafts 321 are designed to extend and retract along their axial direction. This allows the cantilevered automated guided vehicle (AGV) to, during a single stop at the machine station, firstly, remove empty rolls from the machine using the extendable secondary cantilever shafts 321. When the extendable secondary cantilever shafts 321 align with the docking shaft of the roll on the machine, the secondary cantilever shaft assembly 320 can adjust its length to actively compensate for deviations, minimizing the number of repeated adjustments to the vehicle body 200 via the moving chassis 100, thus improving work efficiency. Next, the two main cantilever shaft assemblies 310, each carrying a full roll, are used to install the full roll onto the machine. The entire process is completed in the same vehicle position, eliminating the need for the AGV to move back and forth for roll replacement as required in existing technologies, thereby improving work efficiency.

[0034] Furthermore, such as Figure 5 As shown, Figure 5 This is an isometric view of the telescopic assembly in the cantilever automated guided vehicle provided in this application embodiment; the telescopic assembly 322 includes a fixing member 3221, a multi-stage telescopic member 3222, and a telescopic drive mechanism 3223. The fixing member 3221 is slidably connected to the vehicle body 200 in the vertical direction Z. The multi-stage telescopic member 3222 is connected to the secondary cantilever shaft 321. The multi-stage telescopic member 3222 is slidably connected to the fixing member 3221. The telescopic drive mechanism 3223 is drivenly connected to the multi-stage telescopic member 3222.

[0035] In this embodiment, the multi-stage telescopic structure allows the extension stroke of the secondary cantilever shaft 321 to be several times that of a single stage, adapting to long-distance scenarios between the material pick-up and unload points and the cantilevered automated guided vehicle. The number of stages of the multi-stage telescopic component 3222 can be set according to the material pick-up and unload distance requirements, and two or three stages of telescopic component 3222 can be set.

[0036] Furthermore, such as Figure 5As shown, the multi-stage telescopic component 3222 includes a primary telescopic component 32221 and a secondary telescopic component 32222; the telescopic drive mechanism 3223 includes: a translation drive device, a first transmission rack 32231, a second transmission rack 32232, and a transmission gear 32233; the first transmission rack 32231 is fixedly connected to the fixing component 3221, and the second transmission rack 32232 is fixedly connected to the secondary telescopic component 32222; the transmission gear 32233 meshes with the first transmission rack 32231 and the second transmission rack 32232 respectively, transmitting... The moving gear 32233 is mounted on the first-stage telescopic member 32221; the translation drive device includes a translation output member 32230, which is fixedly connected to the first-stage telescopic member 32221. The translation output member 32230 can drive the first-stage telescopic member 32221 to reciprocate and extend. Through the meshing motion of the transmission gear 32233 with the first transmission rack 32231 and the second transmission rack 32232, the second-stage telescopic member 32222 is driven to move relative to the first-stage telescopic member 32221 in the direction of extension and retraction of the first-stage telescopic member 32221.

[0037] In this embodiment, when the translation drive device moves the translation output component 32230, the first-stage telescopic component 32221 slides synchronously with the translation output component 32230. At this time, the transmission gear 32233 rotates due to meshing with the fixed first transmission rack 32231. The rotating transmission gear 32233 further drives the second transmission rack 32232 and the second-stage telescopic component 32222, which mesh with it, to slide in the same direction, thereby achieving the effect of extending the telescopic stroke of the second-stage telescopic component 32222.

[0038] Furthermore, the translation drive device includes: a telescopic drive motor 32234, a telescopic drive screw 32235, and a telescopic drive nut; the telescopic drive motor 32234 is mounted on the fixing member 3221, one end of the telescopic drive screw 32235 is connected to the output shaft of the telescopic drive motor 32234, the telescopic drive nut is sleeved on the telescopic drive screw 32235, and the translation output member 32230 is connected to the telescopic drive nut.

[0039] In this embodiment, the ball screw has high transmission efficiency, good positioning accuracy and repeatability, and smooth operation. It requires less motor power under the same load, thus reducing the energy consumption of the cantilever automated guided vehicle.

[0040] In other embodiments, the translation drive device may also be a device such as an electric cylinder assembly that can realize translational motion. This application does not limit the type of translation drive device.

[0041] For details, see Figure 2The primary telescopic component 32221 includes two side beams 322211, which are spaced apart on both sides of the telescopic assembly 322 in the telescopic direction. The transmission gear 32233 can be located on the side beams 322211.

[0042] Specifically, the fixing member 3221 and the first-stage telescopic member 32221 are slidably connected via a first-stage sliding assembly. The first-stage sliding assembly includes a slidingly connected first-stage slide rail 32371 and a first-stage slider 32372. The first-stage slide rail 32371 is fixedly connected to the fixing member 3221, and the first-stage slider 32372 is fixedly connected to the first-stage telescopic member 32221. The first-stage telescopic member 32221 and the second-stage telescopic member 32222 are slidably connected via a second-stage sliding assembly. The second-stage sliding assembly includes a slidingly connected second-stage slide rail (not shown) and a second-stage slider (not shown). The second-stage slide rail is fixedly connected to the second-stage telescopic member 32222, and the second-stage slider is fixedly connected to the first-stage telescopic member 32221. By setting the first-stage and second-stage sliding assemblies, the smoothness of sliding between the fixing member 3221 and the multi-stage telescopic member 3222 can be improved, providing precise guidance for the extension and retraction of the telescopic member 3222.

[0043] More specifically, such as Figures 1 to 5 As shown, the secondary cantilever shaft 321 and the multi-stage telescopic component 3222 are connected by an adapter 330. The adapter 330 has two connecting ends, which are used to connect the secondary cantilever shaft 321 and the telescopic component 322 respectively. By replacing the adapter 330 with different specifications, the same multi-stage telescopic component 3222 can be adapted to secondary cantilever shafts 321 with various shaft diameters without replacing the entire secondary cantilever shaft assembly 320, thus reducing equipment adaptation costs. In addition, the detachable design of the adapter 330 shortens the replacement time of the secondary cantilever shaft 321, which is especially suitable for quick maintenance after the secondary cantilever shaft 321 is worn or damaged.

[0044] Furthermore, the main cantilever shaft assembly 310 and / or the auxiliary cantilever shaft assembly 320 also include a pushing mechanism 340, which includes: a pushing member 341, a pushing sliding device, and a pushing driving device; the pushing sliding device is connected to the pushing member 341 and the main cantilever shaft 311 of the main cantilever shaft assembly 310 and / or the auxiliary cantilever shaft 321 of the auxiliary cantilever shaft assembly 320 respectively; the pushing member 341 can slide relative to the main cantilever shaft 311 and / or the auxiliary cantilever shaft 321 to push the material roll; the pushing driving device is used to drive the pushing member 341 to reciprocate along the axial direction of the main cantilever shaft 311 and / or the auxiliary cantilever shaft 321. The pushing mechanism 340 can automatically push the material roll from the main cantilever shaft 311 and / or the auxiliary cantilever shaft 321 to the material pick-up point and the material release point, such as the material shaft of the machine, or pull it from the material pick-up point and the material release point to the main cantilever shaft 311 and / or the auxiliary cantilever shaft 321 without manual assistance, which is especially suitable for the "dust-free and unmanned" production requirements of the lithium battery industry. In addition, traditional cantilever automated guided vehicles rely on the weight of the material roll itself or manual pushing, which is prone to jamming due to excessive friction between the material roll and the main cantilever shaft 311 and / or the auxiliary cantilever shaft 321. The pushing mechanism 340 provides stable pushing / pulling force by actively driving the pushing component 341, ensuring smooth picking and releasing of the material roll.

[0045] Specifically, the material pushing sliding device includes a slidingly connected material pushing slide rail 3421 and a material pushing slider (not shown in the figure); the material pushing slide rail 3421 is fixedly connected to the side wall of the main cantilever shaft 311 and / or the secondary cantilever shaft 321 along the axial direction of the main cantilever shaft 311 and / or the secondary cantilever shaft 321; the material pushing slider is fixedly connected to the material pushing component 341. By setting the material pushing slide rail 3421 and the material pushing slider, the smoothness of sliding between the material pushing component 341 and the main cantilever shaft 311 and / or the secondary cantilever shaft 321 can be improved, providing precise guidance for the movement of the material pushing component 341.

[0046] Furthermore, such as Figures 1 to 4As shown, the main cantilever shaft assembly 310 and / or the auxiliary cantilever shaft assembly 320 further include a tensioning mechanism; the tensioning mechanism includes: a tensioning mounting seat (not shown), a tensioning drive assembly (not shown), and a tensioning moving member 351; the main cantilever shaft 311 of the main cantilever shaft assembly 310 and / or the auxiliary cantilever shaft 321 of the auxiliary cantilever shaft assembly 320 have a hollow inner cavity, the tensioning mounting seat is fixedly installed in the inner cavity, and the tensioning moving member 351 is slidably connected to the tensioning mounting seat in a direction perpendicular to the axis of the main cantilever shaft 311 and / or the auxiliary cantilever shaft 321; the tensioning drive assembly is used to drive the tensioning moving member 351 to extend out of the main cantilever shaft 311 and / or the auxiliary cantilever shaft 321 and abut against the inner wall of the shaft hole of the material roll, so as to restrict the position of the material roll along the axis of the main cantilever shaft 311 and / or the auxiliary cantilever shaft 321. After the tensioning moving part 351 extends outward, it abuts against the inner wall of the material roll shaft hole, limiting the radial and axial swaying of the material roll during the movement of the cantilever automated guided vehicle, which is especially suitable for high-speed movement scenarios of cantilever automated guided vehicles; in addition, the extension amount of the tensioning moving part 351 can be adjusted by the movement stroke of the drive rod, which can be adapted to material rolls with different shaft hole diameters without the need to replace the cantilever shaft or tensioning mechanism, making it highly versatile.

[0047] In some embodiments, the main cantilever shaft assembly 310 and / or the secondary cantilever shaft assembly 320 further includes a material blocking mechanism 360; the material blocking mechanism 360 is located at the end of the main cantilever shaft 311 of the main cantilever shaft assembly 310 and / or the secondary cantilever shaft 321 of the secondary cantilever shaft assembly 320 away from the vehicle body 200; the material blocking mechanism 360 includes: a material blocking base 361, a stop bar 362 and a stop bar drive device; the material blocking base 361 is fixedly installed on the main cantilever shaft 311 and / or the secondary cantilever shaft 321; the stop bar 362 is slidably connected to the material blocking base 361; the stop bar drive device is connected to the stop bar 362 and is used to drive the stop bar 362 to extend or retract from the material blocking base 361, so that the stop bar 362 can block the material roll when it extends and avoid the material roll when it retracts. The stop lever drive device can drive the stop lever 362 to extend out of the stopper base to block the material roll, preventing the material roll from falling off the end of the main cantilever shaft 311 and / or the auxiliary cantilever shaft 321, thereby improving the safety and stability during the handling and loading / unloading of the material roll.

[0048] It should be noted that when the main cantilever shaft 311 and / or the auxiliary cantilever shaft 321 are receiving or picking up the material coil, or when the main cantilever shaft 311 and / or the auxiliary cantilever shaft 321 are unloaded, the stop bar 362 can be in the retracted state.

[0049] Furthermore, the material blocking mechanism 360 is equipped with a barcode reader mounting hole (not shown) and a distance sensor mounting hole (not shown). The barcode reader mounting hole houses the barcode reader, and the distance sensor mounting hole houses the distance sensor. The worktable / buffer rack is equipped with a barcode that can be recognized by the barcode reader. The barcode reader determines the deviation between the main cantilever shaft 311 and / or the auxiliary cantilever shaft 321 and the worktable / buffer rack shaft by reading the position of the barcode on the worktable. This deviation is then eliminated by adjusting the lifting mechanism, translation mechanism, and lateral movement mechanism of the cantilever-type automated guided vehicle. The distance sensor is used to detect the distance information between the main cantilever shaft 311 and / or the auxiliary cantilever shaft 321 and the buffer rack or worktable. By setting up the barcode reader and the distance sensor, auxiliary positioning can be performed in both horizontal and vertical directions. With the help of the lifting mechanism, translation mechanism, and lateral movement mechanism, omnidirectional fine adjustment of the main cantilever shaft 311 and / or the auxiliary cantilever shaft 321 is achieved, and the docking accuracy is significantly improved.

[0050] It should be noted that the above-mentioned material blocking mechanism and tensioning mechanism can be set simultaneously, or only the material blocking mechanism or only the tensioning mechanism can be set. When the material blocking mechanism and the material pushing mechanism are set simultaneously, after the stop bar of the material blocking mechanism is raised, the material pushing mechanism can push the material roll towards the stop bar, so that the pushing component of the material pushing mechanism can cooperate with the stop bar of the material blocking mechanism to clamp the material roll.

[0051] In some embodiments of this application, the number of cantilever axle assemblies 300 is four sets; the main cantilever axle 311 of one set of main cantilever axle assembly 310 and the secondary cantilever axle 321 of one set of secondary cantilever axle assembly 320 extend from the first side 201 of the vehicle body; the main cantilever axle 311 of another set of main cantilever axle assembly 310 and the secondary cantilever axle 321 of another set of secondary cantilever axle assembly 320 extend from the second side 202 of the vehicle body, and the first side 201 and the second side 202 are opposite each other in the horizontal direction; through the above arrangement, the symmetrical layout helps to balance the load of the vehicle body 200 and improve the movement stability; it avoids the vehicle body 200 tilting due to excessive load on one side as much as possible, improves driving stability, and reduces wear on the moving chassis 100.

[0052] In some embodiments of this application, the number of cantilever axle assemblies 300 is four sets; the main cantilever axles 311 of the two sets of main cantilever axle assemblies 310 extend from the first side 201 of the vehicle body; the secondary cantilever axles 321 of the two sets of secondary cantilever axle assemblies 320 extend from the second side 202 of the vehicle body, with the first side 201 and the second side 202 facing each other in the horizontal direction. Through this arrangement, the symmetrical layout helps to balance the load on the vehicle body 200, improving movement stability; it also minimizes the risk of excessive load on one side causing the vehicle body 200 to tilt, thus improving driving stability and reducing wear on the mobile chassis 100.

[0053] In some other embodiments, the main cantilever shafts 311 of the two main cantilever shaft assemblies 310 and the secondary cantilever shafts 321 of the two secondary cantilever shaft assemblies 320 may also extend from the same side of the vehicle body 200, avoiding interference by staggering their height or front-to-back positions.

[0054] In some other embodiments, the main cantilever shafts 311 of the two sets of main cantilever shaft assemblies 310 and the secondary cantilever shafts 321 of the two sets of secondary cantilever shaft assemblies 320 can be respectively arranged on the four sides of the vehicle body 200.

[0055] In this embodiment, due to the retractable property of the secondary cantilever shaft assembly 320, when the secondary cantilever shaft assembly 320 is working, the secondary cantilever shaft 321 of the secondary cantilever shaft assembly 320, together with the adapter 330, extends to the outside of the main cantilever shaft assembly 310. That is, the projection of the secondary cantilever shaft 321 and the adapter 330 extending from the secondary cantilever shaft assembly 320 on the horizontal plane does not overlap with the projection of the main cantilever shaft assembly 310 on the horizontal plane. In this case, the main cantilever shaft assembly and the secondary cantilever shaft assembly extending from the same side will not interfere with each other when moving vertically.

[0056] Furthermore, the vehicle body 200 includes a first vertical support structure 210 and a second vertical support structure 220, which extend vertically and are arranged opposite each other in the horizontal direction; a first portion of one of the secondary cantilever axle assemblies 320 connected to the first vertical support structure 210 is located on the side of the first vertical support structure 210 away from the second vertical support structure 220; a second portion of the other secondary cantilever axle assembly 320 connected to the second vertical support structure 220 is located on the side of the second vertical support structure 220 away from the first vertical support structure 210; a third portion of one main cantilever axle assembly 310 connected to the vehicle body 200 and a fourth portion of the other main cantilever axle assembly 310 connected to the vehicle body 200 are located between the first vertical support structure 210 and the second vertical support structure 220.

[0057] It should be noted that the first part can be the telescopic component 322 of one of the secondary cantilever axle assemblies 320, and the second part can be the telescopic component 322 of the other secondary cantilever axle assembly 320. The third part of one of the main cantilever axle assemblies 310 and the fourth part of the other main cantilever axle assembly 310 can be part of the main cantilever axle 311, or can be a cantilever axle mounting seat, which is fixedly connected to the main cantilever axles 311 of the two main cantilever axle assemblies 310 respectively. It should be noted that the first, second, third, and fourth parts mentioned above are the parts where the two secondary cantilever axle assemblies 320 and the two main cantilever axle assemblies 310 are connected to the vehicle body 200, and this application does not limit the structure of the first, second, third, and fourth parts.

[0058] In this embodiment, the first vertical support structure 210 and the second vertical support structure 220 extend along the vertical direction Z and are arranged opposite each other. Two secondary cantilever shaft assemblies 320 are respectively connected to the outside of the first vertical support structure 210 and the second vertical support structure 220, and two main cantilever shaft assemblies 310 are located between the first vertical support structure 210 and the second vertical support structure 220. This avoids interference between the main cantilever shaft assemblies 310 and the secondary cantilever shaft assemblies 320, achieving a four-cantilever shaft layout within the limited space of the vehicle body 200. The structure of the first vertical support structure 210 and the second vertical support structure 220 extending along the vertical direction Z facilitates the installation of a lifting mechanism, providing stable support for the height adjustment of the main cantilever shaft assemblies 310 and the secondary cantilever shaft assemblies 320. Moreover, the double vertical support structure is more stable and can withstand the load impact of multiple cantilever shafts, such as the impact force when the material roll is inserted, reducing the deformation of the vehicle body 200 and extending the service life of the equipment.

[0059] Specifically, the first vertical support structure 210 and the second vertical support structure 220 can be "plate-like" or "frame-like". This application does not limit the shape of the first vertical support structure 210 and the second vertical support structure 220.

[0060] When the first vertical support structure 210 and the second vertical support structure 220 are frame structures, the weight of the vehicle body 200 can be reduced while ensuring rigidity, thereby improving the driving flexibility of the mobile chassis 100. More specifically, the first vertical support structure 210 includes two first door pillars 211, and the second vertical support structure 220 includes two second door pillars 221.

[0061] Furthermore, the first part is slidably connected to the first vertical support structure 210 via the first lifting mechanism 410; the second part is slidably connected to the second vertical support structure 220 via the second lifting mechanism 420. In this embodiment, the first lifting mechanism 410 and the second lifting mechanism 420 respectively control the height of the two auxiliary cantilever shaft assemblies 320, which can simultaneously connect to empty material winding and unwinding points at different heights without adjusting the overall height of the vehicle body 200, thus improving work efficiency. Moreover, it offers high operational flexibility, as each auxiliary cantilever shaft assembly 320 can be raised and lowered independently.

[0062] It should be noted that the structures of the first lifting mechanism 410 and the second lifting mechanism 420 can be the same. For example, they can both be sprocket and chain lifting structures, synchronous belt lifting structures, or screw drive structures; the structures of the first lifting mechanism 410 and the second lifting mechanism 420 can also be different.

[0063] Optionally, the first lifting mechanism 410 adopts a synchronous belt lifting structure. The first lifting mechanism 410 includes: a first lifting motor 411, a lifting drive wheel 412, a lifting driven wheel 413, and a lifting synchronous belt 414. One side of the lifting synchronous belt 414 is fixedly connected to the secondary cantilever shaft assembly 320. The first lifting motor 411 is mounted on the vehicle body 200, and its output shaft is connected to the lifting drive wheel 412. The lifting drive wheel 412 and the lifting driven wheel 413 are arranged at Z-intervals along the vertical direction on the vehicle body 200. The lifting synchronous belt 414 is sleeved on the lifting drive wheel 412 and the lifting driven wheel 413. When the output shaft of the first lifting motor 411 rotates, it drives the lifting drive wheel 412, the lifting synchronous belt 414, and the lifting driven wheel 413 to rotate, thereby driving the secondary cantilever shaft assembly 320 to move up and down along the vertical direction.

[0064] The vehicle body 200 is provided with a first lifting slide rail 415 extending in the vertical direction, and the secondary cantilever shaft assembly 320 is provided with a first lifting slider 416. The first lifting slide rail 415 and the first lifting slider 416 are slidably connected. By setting the first lifting slide rail 415 and the first lifting slider 416, the smoothness of the movement of the secondary cantilever shaft assembly 320 can be improved, and precise guidance can be provided for the movement of the secondary cantilever shaft assembly 320 in the vertical Z direction.

[0065] Furthermore, in order to optimize the transmission method, two transmission wheels 417 and a transmission belt 418 can be provided on the vehicle body 200. The transmission belt 418 is sleeved on the two transmission wheels 417. One of the transmission wheels 417 is fixedly connected to the lifting drive wheel 412 through a connecting shaft, and the other transmission wheel 417 is fixedly connected to the output shaft of the first lifting motor 411.

[0066] It should be noted that the aforementioned transmission belt 418 and lifting synchronous belt 414 can also be a transmission chain or a lead screw. This application does not limit the transmission method of the first lifting mechanism 410.

[0067] Furthermore, both the third and fourth parts are slidably connected to the side of the second vertical support structure 220 closest to the first vertical support structure 210 via the third lifting mechanism 430; or, the third part is slidably connected to the side of the second vertical support structure 220 closest to the first vertical support structure 210 via the fourth lifting mechanism, and the fourth part is slidably connected to the side of the first vertical support structure 210 closest to the second vertical support structure 220 via the fifth lifting mechanism.

[0068] It should be noted that the third and fourth parts can also be slidably connected to the side of the first vertical support structure 210 near the second vertical support structure 220 via the third lifting mechanism 430.

[0069] In this embodiment, the two main cantilever shaft assemblies 310 can be synchronously slidably connected to the first vertical support structure 210 or the second vertical support structure 220, or the two main cantilever shaft assemblies 310 can be slidably connected to the first vertical support structure 210 and the second vertical support structure 220 respectively. When the two main cantilever shaft assemblies 310 are synchronously slidably connected to the first vertical support structure 210 or the second vertical support structure 220, the structure can be simplified and the cost reduced, which is suitable for scenarios where the pick-up and drop-off points are at the same height. When the two main cantilever shaft assemblies 310 are slidably connected to the first vertical support structure 210 and the second vertical support structure 220 respectively, the height of the two main cantilever shaft assemblies 310 can be independently controlled, improving flexibility and making them suitable for scenarios where the pick-up and drop-off points are at different heights.

[0070] It should be noted that the structures of the third lifting mechanism 430, the fourth lifting mechanism and the fifth lifting mechanism can be the same. For example, they can all be sprocket and chain lifting structures, synchronous belt lifting structures, or screw drive structures; the structures of the first lifting mechanism 410 and the second lifting mechanism 420 can also be different.

[0071] For example, when it is a lead screw drive structure, the third lifting mechanism 430 includes: a third lifting motor 431, a lifting drive lead screw 432 and a lifting drive nut (not shown).

[0072] like Figure 3 and Figure 4 As shown, the main body of the third lifting motor 431 is fixedly installed on the vehicle body 200. Specifically, the output shaft of the third lifting motor 431 is connected to one end of the lifting drive screw 432. The lifting drive nut is sleeved on the lifting drive screw 432 and connected to the main cantilever shaft assembly 310. The output shaft of the third lifting motor 431 drives the lifting drive screw 432 to rotate, so that the lifting drive nut drives the main cantilever shaft assembly 310 to reciprocate in the vertical direction Z, thereby adjusting the height position of the main cantilever shaft assembly 310 of the cantilever automated guided vehicle, which can connect to material rolls of different heights, making the cantilever automated guided vehicle in this embodiment more flexible and universal.

[0073] Specifically, the lifting drive nut and the main cantilever shaft assembly 310 can be connected by screws or by a pin and a pin hole.

[0074] More specifically, such as Figure 3 and Figure 4As shown, the vehicle body 200 is provided with a second lifting slide rail 433 extending in the vertical direction, and the main cantilever shaft assembly 310 is provided with a second lifting slider 434. The second lifting slide rail 433 and the second lifting slider 434 are slidably connected. By setting the second lifting slide rail 433 and the second lifting slider 434, the smoothness of the movement of the main cantilever shaft assembly 310 can be improved, and precise guidance can be provided for the movement of the main cantilever shaft assembly 310 in the vertical direction.

[0075] More specifically, such as Figure 3 As shown, the main cantilever shaft 311 is connected to the third lifting mechanism 430 through the cantilever shaft mounting base 370.

[0076] When the vehicle body 200 adopts a column frame structure, there are two sets of first lifting slide rails 415, each set corresponding to two first lifting slide rails 415. The two sets of first lifting slide rails 415 are respectively set on the first vertical support structure and / or the second vertical support structure. When the two main cantilever shaft assemblies are slidably connected to the first vertical support structure or the second vertical support structure through the third lifting mechanism, there are two second lifting slide rails 433. The two second lifting slide rails 433 can be respectively set on the two first door pillars 211 of the first vertical support structure 210; or they can be respectively set on the two second door pillars 221 of the second vertical support structure 220. This structure allows the first lifting slide rails 415, the second lifting slide rails 433 and the door pillars to have a larger span in the direction of force, and the overall rigidity of the vehicle body 200 is better and the deformation is smaller.

[0077] It should be noted that the number of first gateposts 211 can be two, three, four or other numbers, and the number of second gateposts 221 can be two, three, four or other numbers. The first gateposts 211 and the second gateposts 221 can be rectangular tubes, square tubes, channel-shaped tubes or other types.

[0078] Based on all the above embodiments, such as Figure 1 and Figure 2 As shown, the vehicle body 200 may also have an outer shell, which serves to protect the vehicle body 200 from dust. The outer shell may be equipped with a bellows cover 230, which can extend and retract up and down with the movement of the cantilever shaft assembly 300, and play a role in dust protection while ensuring the normal movement of the cantilever shaft assembly 300.

[0079] Furthermore, such as Figure 2As shown, the cantilever automated guided vehicle also includes a bidirectional fine-tuning mechanism, which includes a translation mechanism 500 and a lateral movement mechanism 600. The translation mechanism 500 is mounted on the top of the mobile chassis 100. The lateral movement mechanism 600 is located between the translation mechanism 500 and the vehicle body 200. The translation mechanism 500 is used to drive the lateral movement mechanism 600 and the vehicle body 200 to move back and forth along a first direction X. The first direction X is the axial direction of the main cantilever shaft 311 and the secondary cantilever shaft 321. The lateral movement mechanism 600 is used to drive the vehicle body 200 to move back and forth along a second direction Y. In the horizontal direction, the first direction X and the second direction Y are perpendicular to each other.

[0080] It should be noted that in other embodiments, the cantilever automated guided vehicle can adjust the position of the vehicle body 200 simply by moving the chassis 100, thereby adjusting the position of the main cantilever shaft 311 and the auxiliary cantilever shaft 321.

[0081] The above description of the embodiments shown in this application, including the content in the specification summary, is not intended to be an exhaustive enumeration or to limit this application to the precise forms disclosed herein. Although specific embodiments and examples of this application have been described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of this application, as will be recognized and understood by those skilled in the art. As indicated, these modifications can be made to this application in accordance with the above description of the embodiments of this application, and such modifications will be within the spirit and scope of this application.

[0082] In this specification, the term "an embodiment" means that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the claims. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, there is no order limitation between the above embodiments.

[0083] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A cantilevered automated guided vehicle, characterized in that, include: Mobile chassis (100); The vehicle body (200) is connected to the mobile chassis (100), and the mobile chassis (100) is capable of moving the vehicle body (200); Multiple cantilever shaft assemblies (300) are connected to the vehicle body (200). The multiple cantilever shaft assemblies (300) include at least two main cantilever shaft assemblies (310) for carrying full rolls and at least two auxiliary cantilever shaft assemblies (320) for carrying empty rolls. The auxiliary cantilever shaft assembly (320) includes an auxiliary cantilever shaft (321) and a telescopic assembly (322). The auxiliary cantilever shaft (321) can reciprocate and extend relative to the vehicle body (200) along the axial direction of the auxiliary cantilever shaft (321) under the action of the telescopic assembly (322) to adjust the length of the auxiliary cantilever shaft assembly (320) when performing roll loading and unloading operations.

2. The cantilevered automated guided vehicle according to claim 1, characterized in that, The telescopic assembly (322) includes a fixing member (3221), a multi-stage telescopic member (3222), and a telescopic drive mechanism (3223). The fixing member (3221) is slidably connected to the vehicle body (200) in the vertical direction (Z), the multi-stage telescopic member (3222) is connected to the secondary cantilever shaft (321), the multi-stage telescopic member (3222) is slidably connected to the fixing member (3221), and the telescopic drive mechanism (3223) is drivenly connected to the multi-stage telescopic member (3222).

3. The cantilevered automated guided vehicle according to claim 2, characterized in that, The multi-stage telescopic component (3222) includes a primary telescopic component (32221) and a secondary telescopic component (32222). The telescopic drive mechanism (3223) includes: a translation drive device, a first transmission rack (32231), a second transmission rack (32232), and a transmission gear (32233). The first transmission rack (32231) is fixedly connected to the fixing member (3221), and the second transmission rack (32232) is fixedly connected to the secondary telescopic member (32222). The transmission gear (32233) meshes with the first transmission rack (32231) and the second transmission rack (32232) respectively, and the transmission gear (32233) is disposed on the first-stage telescopic member (32221); The translation drive device includes a translation output component (32230), which is fixedly connected to the first-stage telescopic component (32221). The translation output component (32230) can drive the first-stage telescopic component (32221) to reciprocate and extend. Through the meshing motion of the transmission gear (32233) with the first transmission rack (32231) and the second transmission rack (32232), the second-stage telescopic component (32222) is driven to move relative to the first-stage telescopic component (32221) in the direction of extension and retraction of the first-stage telescopic component (32221).

4. The cantilevered automated guided vehicle according to claim 3, characterized in that, The translation drive device includes: a telescopic drive motor (32234), a telescopic drive screw (32235), and a telescopic drive nut; The telescopic drive motor (32234) is mounted on the fixing member (3221), one end of the telescopic drive screw (32235) is connected to the output shaft of the telescopic drive motor (32234), the telescopic drive nut is sleeved on the telescopic drive screw (32235), and the translation output member (32230) is connected to the telescopic drive nut.

5. The cantilevered automated guided vehicle according to claim 1, characterized in that, The main cantilever shaft assembly (310) and / or the secondary cantilever shaft assembly (320) further include a tensioning mechanism; The tensioning mechanism includes: Tensioner mounting base, tensioner drive assembly and tensioner moving part (351); The main cantilever shaft (311) of the main cantilever shaft assembly (310) and / or the secondary cantilever shaft (321) of the secondary cantilever shaft assembly (320) have hollow inner cavities. The tensioning mounting seat is fixedly installed in the inner cavity. The tensioning moving member (351) is slidably connected to the tensioning mounting seat in a direction perpendicular to the axis of the main cantilever shaft (311) and / or the secondary cantilever shaft (321). The tension drive assembly is used to drive the tension moving part (351) to extend out of the main cantilever shaft (311) and / or the secondary cantilever shaft (321).

6. The cantilevered automated guided vehicle according to claim 1, characterized in that, The main cantilever shaft assembly (310) and / or the secondary cantilever shaft assembly (320) further include a material stop mechanism (360). The material stop mechanism (360) is located at the end of the main cantilever shaft (311) of the main cantilever shaft assembly (310) and / or the secondary cantilever shaft (321) of the secondary cantilever shaft assembly (320) away from the vehicle body (200); The material blocking mechanism (360) includes: a material blocking base (361), a blocking rod (362), and a blocking rod driving device; The baffle base (361) is fixedly installed on the main cantilever shaft (311) and / or the auxiliary cantilever shaft (321). The stop bar (362) is slidably connected to the baffle base (361). The stop lever driving device is connected to the stop lever (362) and is used to drive the stop lever (362) to extend or retract from the stop base (361).

7. The cantilevered automated guided vehicle according to any one of claims 1-5, characterized in that, The number of cantilever shaft assemblies (300) is four sets; The main cantilever shaft (311) of one set of main cantilever shaft assembly (310) and the secondary cantilever shaft (321) of one set of secondary cantilever shaft assembly (320) extend from the first side (201) of the vehicle body; The main cantilever shaft (311) of another set of main cantilever shaft assembly (310) and the secondary cantilever shaft (321) of another set of secondary cantilever shaft assembly (320) extend from the second side (202) of the vehicle body, with the first side (201) and the second side (202) facing each other in the horizontal direction; or The main cantilever shafts (311) of the two sets of main cantilever shaft assemblies (310) extend from the first side (201) of the vehicle body; The secondary cantilever shafts (321) of the two sets of secondary cantilever shaft assemblies (320) extend from the second side (202) of the vehicle body, with the first side (201) and the second side (202) facing each other in the horizontal direction.

8. The cantilevered automated guided vehicle according to claim 7, characterized in that, The vehicle body (200) includes a first vertical support structure (210) and a second vertical support structure (220), wherein the first vertical support structure (210) and the second vertical support structure (220) extend in the vertical direction and are arranged opposite each other in the horizontal direction; One of the secondary cantilever shaft assemblies (320) is connected to the first vertical support structure (210) at a first portion located on the side of the first vertical support structure (210) away from the second vertical support structure (220); The second portion of another secondary cantilever shaft assembly (320) connected to the second vertical support structure (220) is located on the side of the second vertical support structure (220) away from the first vertical support structure (210); A third portion of one main cantilever axle assembly (310) connected to the vehicle body (200) and a fourth portion of the other main cantilever axle assembly (310) connected to the vehicle body (200) are located between the first vertical support structure (210) and the second vertical support structure (220).

9. The cantilevered automated guided vehicle according to claim 8, characterized in that, The first part is slidably connected to the first vertical support structure (210) via the first lifting mechanism (410); The second part is slidably connected to the second vertical support structure (220) via the second lifting mechanism (420).

10. The cantilevered automated guided vehicle according to claim 8, characterized in that, The third part and the fourth part are both slidably connected to the side of the second vertical support structure (220) near the first vertical support structure (210) via the third lifting mechanism (430); or The third part is slidably connected to the side of the second vertical support structure (220) near the first vertical support structure (210) via the fourth lifting mechanism, and the fourth part is slidably connected to the side of the first vertical support structure (210) near the second vertical support structure (220) via the fifth lifting mechanism.

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